使用stm32门控模式控制A4988驱动步进电机

A4988驱动步进电机

在我电动车跷跷板的程序中有这部分代码，我看有不少人在发，也就单独列出来。

我用的是两相四线步进电机，通过对A4988发送脉冲来驱动步进电机。

程序是使用门控模式输出脉冲。门控模式，我也是刚刚接触，理解的比较简单，就是用一个定时器的高低电平来决定另一个定时器是否触发，可以用一个定时器来控制另一个定时器。

/*MOTOR.h*/

#include "sys.h"

#define DIR1 PBout(10)
#define DIR2 PEout(15)
#define MS1 PCout(7)
#define MS2 PCout(8)
#define MS3 PCout(6)

#define MOTOR_MODE_FULL_STEP 0x00					//全速
#define MOTOR_MODE_HALF_STEP 0x04					//二分之一
#define MOTOR_MODE_QUARTER_STEP 0x02				//四分之一
#define MOTOR_MODE_EIGHTH_STEP 0x06				//八分之一
#define MOTOR_MODE_SIXTEENTH_STEP 0x07			//十六分之一

typedef struct 
{
	char DIRL;
	char DIRR;
	char MODE;
}MOTOR_InitTypeDef;

void TIM3_PWM(u16 Cycle, u16 Pulse_Num);
void dir_init(void);
void TIM3_init(void);
void MOTOR_MODE(MOTOR_InitTypeDef* MOTOR_InitStruct);
void TIM4_Config(void);
void NVIC_Configa(void);

/*MOTOR.c*/

#include "motor.h"  
#include "stm32f10x.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"

/*****ÉèÖÃPWMµÄÊä³ö£¬¾«È·Êä³ö¶àÉÙƵÂʶàÉÙ¸öÊýµÄÂö³å************/

/*****Cycle:ÖÜÆÚ£¬µ¥Î»(us)
******Pulse_Num:Âö³å¸öÊý(×î´ó3200)

****¸Ä±äTIM3µÄ £¨ ÖØ×°ÔØÖµ          £© ¸Ä±äÂö³åƵÂÊ£¬¹Ì¶¨Õ¼¿Õ±ÈΪ50%
****¸Ä±äTIM2µÄ £¨ Ô¤·ÖƵÆ÷+ÖØ×°ÔØÖµ £© ¸Ä±äÂö³å¸öÊý                    */

void TIM3_PWM(u16 Cycle, u16 Pulse_Num)
{
  u16 TIM3per = 0;        
  u32 Time = 0;

  Time = Cycle * (Pulse_Num+10);
  Time /= 100;                  //Ô¤·ÖƵΪ7200,100us ¼¼ÊõÒ»´Î
  TIM3per = Cycle/10;           //Ô¤·ÖƵΪ720 ,10us  ¼¼ÊõÒ»´Î

  TIM_SetAutoreload(TIM2, Time-1);     //ÉèÖÃTIM2µÄÖØ×°ÔØÖµ
  TIM_SetAutoreload(TIM3, TIM3per-1);  //ÉèÖÃTIM3µÄÖØ×°ÔØÖµ
  TIM_SetCompare1(TIM3,TIM3per/2);     //ÉèÖÃTIM3Õ¼¿Õ±ÈΪ50%
	TIM_SetAutoreload(TIM4, TIM3per-1);  //ÉèÖÃTIM3µÄÖØ×°ÔØÖµ
  TIM_SetCompare1(TIM4,TIM3per/2);     //ÉèÖÃTIM3Õ¼¿Õ±ÈΪ50%

  TIM_Cmd(TIM2,ENABLE);

} 

void TIM3_init(void)
{
  TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
  TIM_OCInitTypeDef TIM_OCInitStruct;
  GPIO_InitTypeDef GPIO_InitStruct;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2|RCC_APB1Periph_TIM3,ENABLE);   // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);                         
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE); //  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);


  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;   //TIM2_ch1_ETR£ºA0   £¬  TIM3_ch1    £ºA6
  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_7|GPIO_Pin_6; 
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA,&GPIO_InitStruct);
  
  /**************TIM2¹¤×÷ÔÚµ¥Âö³åģʽÏÂ********************/
  TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInitStruct.TIM_Prescaler = 7199;   //Ô¤·ÖÅäÖµ£¬Ã¿100u¼ÆÊýÒ»´Î
  TIM_TimeBaseInitStruct.TIM_Period = 400;   //ÖØÔØÖµ
  TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);

  TIM_SelectOnePulseMode(TIM2,TIM_OPMode_Single);//ÉèÖÃTIM2ÔÚµ¥Âö³åģʽÏ £¬ µ¥´Î´¥·¢
  TIM_OC2PreloadConfig(TIM2,TIM_OCPreload_Enable);// ʹÄÜTIM2µÄͨµÀ2ԤװÔؼĴæÆ÷
  TIM_SelectOutputTrigger(TIM2,TIM_TRGOSource_OC2Ref); //Âö³åÊä³öͨµÀ2

  TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;// 
  TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OCInitStruct.TIM_Pulse = 200;//±È½Ï²¶»ñ1µÄԤװÔØÖµ    Õ¼¿Õ±È50%
  TIM_OC2Init(TIM2,&TIM_OCInitStruct);

  TIM_Cmd(TIM2,DISABLE);//ÏȲ»Ê¹ÄÜTIM2


/****************TIM3ÔÙ´ÓģʽµÄÃÅ¿ØģʽϵÄPWMÊä³öģʽ**************/
  TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Down;
  TIM_TimeBaseInitStruct.TIM_Prescaler = 719;//Ô¤·ÖƵֵ£¬10us¼¼ÊõÒ»´Î
  TIM_TimeBaseInitStruct.TIM_Period = 200;//ÖØÔØÖµ
  TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStruct);

  
  TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);//TIM3ΪÃÅ¿Øģʽ
  TIM_SelectMasterSlaveMode(TIM3,TIM_MasterSlaveMode_Enable);
  TIM_SelectInputTrigger(TIM3,TIM_TS_ITR1);//ÄÚ²¿´ÓTIM2´¥·¢
  

  TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2; 
  TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OCInitStruct.TIM_Pulse = 100;   //±È½Ï²¶»ñ1µÄԤװÔØÖµ   Õ¼¿Õ±È50%
  TIM_OC2Init(TIM3,&TIM_OCInitStruct);
  TIM_OC1Init(TIM3,&TIM_OCInitStruct);

  TIM_Cmd(TIM3,ENABLE);

}


void dir_init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);//ʹÄÜGPIOBµÄʱÖÓ
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE,ENABLE);//ʹÄÜGPIOEµÄʱÖÓ
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);//ʹÄÜGPIOCµÄʱÖÓ
	
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP; //ÍÆÍìÊä³ö
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_10;		//PB10¶Ë¿ÚÅäÖÃ
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;//ËÙ¶È50MHz
	GPIO_Init(GPIOB,&GPIO_InitStruct);			//³õʼ»¯GPIOB.10
	GPIO_SetBits(GPIOB,GPIO_Pin_10);				//ÉèÖÃPB10Êä³ö¸ß
	
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP; //ÍÆÍìÊä³ö
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_15;		//PE15¶Ë¿ÚÅäÖÃ
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;//ËÙ¶È50MHz
	GPIO_Init(GPIOE,&GPIO_InitStruct);			//³õʼ»¯GPIOE.15
	GPIO_SetBits(GPIOE,GPIO_Pin_15);				//ÉèÖÃPE15Êä³ö¸ß
	
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP; //ÍÆÍìÊä³ö
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;		//PC678¶Ë¿ÚÅäÖÃ
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;//ËÙ¶È50MHz
	GPIO_Init(GPIOC,&GPIO_InitStruct);			//³õʼ»¯GPIOC.678
	GPIO_SetBits(GPIOB,GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8);				//ÉèÖÃPC678Êä³ö¸ß
}

void MOTOR_MODE(MOTOR_InitTypeDef* MOTOR_InitStruct)
{
	DIR1 =MOTOR_InitStruct ->DIRL ;
	DIR2 =MOTOR_InitStruct ->DIRR ;
	MS1 =MOTOR_InitStruct ->MODE >> 2;
	MS2 =MOTOR_InitStruct ->MODE >> 1 & 0x01;
	MS3 =MOTOR_InitStruct ->MODE & 0x01;
}

/*Ò»Ã붨ʱ*/
void TIM4_Config(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
    TIM_ClearITPendingBit(TIM4,TIM_IT_Update);
    TIM_TimeBaseStructure.TIM_Period = 1999;
    TIM_TimeBaseStructure.TIM_Prescaler = 35999;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);
    TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);
    TIM_Cmd(TIM4,ENABLE);
}

void NVIC_Configa(void)
{
    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

/*main.c*/
	MOTOR_InitTypeDef MOTOR_InitStruct;
	dir_init();
	delay_init();
	TIM3_init();
void main()
{
		MOTOR_InitStruct.DIRL =0;
		MOTOR_InitStruct.DIRR =1;			
		MOTOR_InitStruct.MODE = MOTOR_MODE_EIGHTH_STEP ;
		MOTOR_MODE(&MOTOR_InitStruct);
		TIM3_PWM(2000, 120);
		delay_ms(100);
}

注释懒得改了，复制到KEIL5里面就正常了。
输出脉冲可以稳定的确定周期与数量（逻辑分析仪实测），TIM3_PWM(2000, 120);第一个参数为周期，第二个参数为脉冲数量。